Research On Robot Navigation Algorithms In The Known Environment Conditions

The purpose of this diploma project is to develop a universal system of mobile robot navigation in a known environment conditions. It helps robot to navigate in space and become safer for humans and thus facilitate the implementation of robotic solutions into everyday life.The practical importance of this problem in some areas is very high. For example, as a guide robot at museums or exhibitions, where it is necessary to follow from one place to another in sequence or in agriculture, when the tractor or combine must very accurately to follow some curved path to perform planting, watering and other operations.In the process of achieving the goal to resolve number intermediate problems, each of which is an important and necessary step towards the creation of the program demonstrates the feasibility of the proposed method.(1) At the first stage the main objective was to study the existing algorithms for mobile robots path finding, the study of which began in the 50 s of 20 century. In the case of finding an algorithm in general satisfies requirements, represented in Partition 4, it was supposed to take it as a basis and by improving brought into line. However, barely one of the existing algorithms suited under half of nine requirements.(2) The next stage of project development assumes a test ground creation for opportunity to test an algorithm implementation. As a result of detailed study were identified possibilities of semi-automatic turning location map photos to test polygon by defining the obstacles boundaries on it. In fact, preliminary necessary to process an image, but MATLAB functions allow making it, and the best in this case is Canny method for edge detection.(3) At the final stage were identified requirements for new algorithm, composed its description and created a block scheme. Based on block scheme written a program, which demonstrates algorithm capabilities. Testing under specified conditions showed excellent results of path finding. All five possible options for work, described in paragraph 5.3, are implemented and operational.(4) Despite the external completeness, the algorithm can be improved several times, as described in Partition 7. Also, when robot equipped with advanced sensors it is possible to realize motion in dynamic conditions, as well as group motion, including in urban environments and unknown environments conditions.